基于改进滑模自抗扰结构的永磁同步电机伺服控制

针对传统PID控制参数适应性差、响应慢等缺点，采用自抗扰控制算法与永磁同步电机一阶速度环模型相结合，设计了基于自抗扰的速度环数学模型，并在仿真软件验证了该算法对系统鲁棒性的提升。之后，针对自抗扰算法待整定参数多，参数没有明确物理意义的问题，采用了改进的滑模自抗扰控制器，使用新型滑模趋近律代替了传统最优控制函数，改善滑模趋近运动。通过建模和仿真实验，验证了改进的滑模自抗扰结构可以缩短系统进入稳态的时间，减小系统在平衡状态下转速和转矩的抖振幅度，改善了系统动态性能和控制精度。

PMSM Servo Control Based on Improved Sliding Mode Active Disturbance Rejection Structure

The traditional PID control has the disadvantages of poor parameter adaptability and slow response. In this paper, the active disturbance rejection algorithm is combined with the first-order speed loop model of permanent magnet synchronous motor, and the speed loop model based on active disturbance rejection is designed. The simulation verifies that the algorithm improves the robustness of the system. Then, aiming at the problem that the auto-disturbance rejection algorithm has many parameters to be tuned and the parameters have no clear physical meaning, an improved sliding mode auto-disturbance rejection controller is adopted, and a new sliding mode reaching law is used to replace the traditional optimal control function to improve the sliding mode reaching motion. Through modeling and simulation experiments, it is verified that the improved sliding mode active disturbance rejection structure can shorten the time for the system to enter the steady state, reduce the chattering amplitude of the speed and torque of the system in the equilibrium state, and improve the dynamic performance and control accuracy of the system.